In view of the controllable pitch propulsion system driving by the diesel engine,it is necessary to establish appropriate motion models of paddle system,diesel engine system,speed control system and pitch control system from the angle of kinematics and dynamics.At the same time,the fuzzy PID controller is designed on the Matlab simulation platform by the fuzzy theory and PID theory.The corresponding pitch deviation,the deviation rate and pitch control output data are got to match the dynamic performance of controllable pitch propeller.A lookup table of the fuzzy controller output is got by offline simulation calculation.At last the fuzzy PID controller is designed completely.As to controllable pitch,the telegraph signal and pulse interference signal are given to do simulation experiment.The results confirm that the controlling jitter problem is avoided effectively with the fuzzy PID controller.Its controlling speed,accuracy and sensitivity are better than PID controller.%针对柴油机驱动的船舶可调桨推进系统,从运动学和动力学角度建立与其适应的船桨系统、柴油机系统、调速控制系统和螺距控制系统的运动模型.同时运用模糊控制和PID控制理论,在Matlab仿真平台上设计可调桨螺距的模糊PID控制器,调试运行使之与可调桨动力性能相匹配,得到相应螺距偏差、偏差变化率和螺距控制输出量隶属度数据.通过仿真过程离线计算得到模糊控制器输出控制量查询表,从而设计完成可调桨螺距的模糊PID控制器.针对可调桨螺距控制,给定车钟指令信号和脉冲干扰信号.仿真实验结果证明,模糊PID控制器能有效避免可调桨控制跳动问题,且其控制速度、精度和灵敏度较传统PID控制器具有显著优势.
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